Recent Submissions

  • Physics-based motion planning: evaluation criteria and benchmarking 

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2015)
    Conference report
    Restricted access - publisher's policy
    Motion planning has evolved from coping with simply geometric problems to physics-based ones that incorporate the kinodynamic and the physical constraints imposed by the robot and the physical world. Therefore, the criteria ...
  • Reasoning-based evaluation of manipulation actions for efficient task planning 

    Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Springer, 2015)
    Conference lecture
    Restricted access - publisher's policy
    To cope with the growing complexity of manipulation tasks, the way to combine and access information from high- and low-planning levels has recently emerged as an interesting challenge in robotics. To tackle this, the ...
  • Commanding the object orientation using dexterous manipulation 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Springer, 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper presents an approach to change the orientation of a grasped object using dexterous manipulation teleoperated in a very simple way with the commands introduced by an operator using a keyboard. The novelty of the ...
  • Unknown object manipulation based on tactile information 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This work proposes an approach to manipulate unknown objects based on tactile information. The manipulation can have three goals: the optimization of the hand configuration, the optimization of the grasp quality and the ...
  • Comparison of motion planners in an environment with removable obstacles 

    Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired ...
  • HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning 

    García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    The paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, ...
  • Motion planning using first-order synergies 

    García Hidalgo, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic ...
  • Síntesis de prensiones con “force-closure” para un objeto articulado 3D con 3 eslabones 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (2015)
    Conference lecture
    Open Access
    Este trabajo aborda el problema de la síntesis de prensiones con “force-closure” para un objeto articulado 3D constituido por 3 eslabones y considerando contactos sin fricción. La superficie de cada eslabón se representa ...
  • Using synergies in dual-arm manipulation tasks 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key ...
  • Determining independent contacts regions to immobilize 2D articulated objects 

    Alvarado, Noe; Suárez Feijóo, Raúl; Roa, Máximo (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a forceclosure (FC) immobilization, independently of the ...

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